%0 Conference Paper %1 ICAR2005_2 %A Nüchter, A. %A Lingemann, K. %A Hertzberg, J. %A Surmann, H. %B Proceedings of the 12th IEEE International Conference on Advanced Robotics (ICAR '05) %D 2005 %K imported %P 242--249 %R 10.1109/ICAR.2005.1507419 %T 6D SLAM with Approximate Data Association %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/icar2005_2.pdf %X This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. A fast variant of the iterative closest points (ICP) algorithm registers 3D scans taken by a mobile robot into a common coordinate system and thus provides relocalization. Hereby, data association is reduced to the problem of searching for closest points. Approximation algorithms for this searching, namely, approximate kd-trees and box decomposition trees, are presented and evaluated in this paper. A solution to 6D SLAM that considers all free parameters in the robot pose is built based on 3D scan matching.

@inproceedings{ICAR2005_2, abstract = {This paper provides a new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom. A fast variant of the iterative closest points (ICP) algorithm registers 3D scans taken by a mobile robot into a common coordinate system and thus provides relocalization. Hereby, data association is reduced to the problem of searching for closest points. Approximation algorithms for this searching, namely, approximate kd-trees and box decomposition trees, are presented and evaluated in this paper. A solution to 6D SLAM that considers all free parameters in the robot pose is built based on 3D scan matching.}, added-at = {2017-09-19T13:40:53.000+0200}, author = {N{\"u}chter, A. and Lingemann, K. and Hertzberg, J. and Surmann, H.}, biburl = {https://www.bibsonomy.org/bibtex/284de1e308a28edac158732143b44a059/nuechter76}, booktitle = {Proceedings of the 12th IEEE International Conference on Advanced Robotics (ICAR '05)}, doi = {10.1109/ICAR.2005.1507419}, interhash = {2100ec9ec229b9df07cb7e3d8bf3da2c}, intrahash = {84de1e308a28edac158732143b44a059}, keywords = {imported}, month = {July}, pages = {242--249}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {{6D SLAM} with {A}pproximate {D}ata {A}ssociation}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/icar2005_2.pdf}, year = 2005 }